Today I did a lot of testing and tuning with the new unreleased beta version of ArduCopter code, known as "2.9.2ß" (V3 i think for the official exit), quad with APM V2.5 and U-Blox GPS by 3DRobotics.
The inertial control developed by Leonard and Randy, with the support of Jason, is finally giving the results that for over a year all we are waiting.
To be perfectly sure I've repeated this test at least 10 times in three different flight, with the same great performance.
As you can see from this image and video the max radius in Loiter is now not over one meter in windless/gusty winds and max two meters in strong crosswind, near the position hold performance of the best commercial product, DJI Wookong-M.
We are trying to improve the waypoint navigation but now we're here, the next release will be really a milestone.
We still have to solve a few problems related to the inertial control x/y/z, but I am sure that the excellent results achieved so far are to mean that we are on the right track.
I attach the telemetry log.
DJI, here we come...


-= AC Dev Team =-

EDIT: in my video you can see the version "3" of the code, nothing secret of course, is the current master branch on GitHub called at the moment "2.9.1b-DEV".
Jason Short on the dev list has proposed to move version from 2.9.1 to 3.x for the massive changes inside the code (ap_hal, PX4 support and other), and following its proposal I have appointed as such in my videos, that's all.


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  • Congrats Daniel !, just came from work and saw your comments. 

  • Finaly. Successful compile. (Also very stable flight with the latest compile download, to boot!)


    Hey Thomas, your the man! Thanks very much.



  • sure you set this and restart arduino ? and don't forget to modify the apm_config.t for your frame


  • @Thomas

    Thanks for the info.

    I followed all the steps, and after unpacking into a folder (pls. see image attached),


    5. restarted arduino and opened the project, tried a couple of ways:

       - File> Open

       - File > Sketch > Arducopter

       -  Up-arrow icon > Arducopter

    6.  compile.. Ctrl-R

    Resulted to compile errors.

    Its weird. The old master for the 2.9.1b final version, the compile goes without any issue.

    However with the latest master, I seem to be getting consistently these compile errors.

    Wonder what gives.



  • @Daniel,

    here how to compile the beta

    1. download latest trunk

    2. download arduino from here

    3. unpack both and start arduino.exe

    4. set Ardupoilot apm to your needs

    5. restart arduino and open the project

    6. compile and upload



  • I have tried the latest and I also had a problem moving the Quad in Loiter. I was a lttle scared the first time it happened there was very little  response to pitch or roll. Full left on the stick the quad would barely move.

  • Developer

    @Andreas: thanks for your report, the manual repositioning during Loiter i don't know why in your system it doesn't work, here is fine.
    About the "
    the quad goes haywire in loiter mode" after aggresive flight without pause is normal, I had already found and have already been reported to the dev team, accelerometers go haywire if they were a little abused, same if you land too hard and takeoff immediately.
    APM Planner accel calibration issue:
    already found and reported to Michael.

  • Appreciate your help, Rana.

    I just installed teamviewer, and hope to touch base with you soon on compile.. just let me know when you're available.

    @Marco, I'm having the same issue as Mathieu: Accelerometer Calibration freezes with "initializing APM" with the latest compile downloaded.



  • First off: My quad has the best loiter stability EVER with the current master branch. For the first time I felt like I could turn my back to the flying quad. Thanks for making this happen!

    Now to the oddities:

    -When in loiter mode, no matter what pitch and roll input I provide, the quad does not move. Yaw on the other hand works. Behavior is normal in Stabilized and Alt Hold. I reported this last Tuesday and confirmed today that it still happens with the today's master branch. Is this known or intended behavior? Anybody else can confirm?

    -Less important but also an observation that I made yesterday. If I switch from flying aggressively to loiter without first pausing the quad 100%, the quad goes haywire in loiter mode.

  • Yes, well discovered. It's a known bug, CLi only till it's fixed

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